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One of the potential capabilities of Connected and Autonomous Vehicles (CAVs) is that they can have different route choice behavior and driving behavior compared to human Driven Vehicles (HDVs). This will lead to mixed traffic flow with…
Connected and automated vehicles (CAVs) provide the most intriguing opportunity to improve energy efficiency, traffic flow, and safety. In earlier work, we addressed the constrained optimal coordination problem of CAVs at different traffic…
This paper studies the cooperative driving of connected and automated vehicles (CAVs) at conflict areas (e.g., non-signalized intersections and ramping regions). Due to safety concerns, most existing studies prohibit lane change since this…
In this paper, we present an optimal control framework to address motion coordination of connected automated vehicles (CAVs) in the presence of human-driven vehicles (HDVs) in merging scenarios. Our framework combines an unconstrained…
We propose a methodology for connected autonomous vehicles (CAVs) to determine their passing priority at unsignalized intersections where they coexist with human-driven vehicles (HVs). Assuming that CAVs can perceive the entry order of…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…
Connected and autonomous vehicles (CAVs) can reduce human errors in traffic accidents, increase road efficiency, and execute various tasks ranging from delivery to smart city surveillance. Reaping these benefits requires CAVs to…
Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…
Multi-agent distributed optimization over a network minimizes a global objective formed by a sum of local convex functions using only local computation and communication. We develop and analyze a quantized distributed algorithm based on the…
The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported…
In preparing for connected and autonomous vehicles (CAVs), a worrisome aspect is the transition era which will be characterized by mixed traffic (where CAVs and human-driven vehicles (HDVs) share the roadway). Consistent with expectations…
Connected and automated vehicles (CAVs) technologies promise to attenuate undesired traffic disturbances. However, in mixed traffic where human-driven vehicles (HDVs) also exist, the nonlinear human-driving behavior has brought critical…
Unsignalized intersection cooperation of connected and automated vehicles (CAVs) is able to eliminate green time loss of signalized intersections and improve traffic efficiency. Most of the existing research on unsignalized intersection…
The topic of this paper is the design of a fully distributed and real-time capable control scheme for the automation of road intersections. State of the art Vehicle-to-Vehicle (V2V) communication technology is adopted. Vehicles…
This paper fully studies distributed optimal consensus problem in non-directed dynamical networks. We consider a group of networked agents that are supposed to rendezvous at the optimal point of a collective convex objective function. Each…
Active Traffic Management strategies are often adopted in real-time to address such sudden flow breakdowns. When queuing is imminent, Speed Harmonization (SH), which adjusts speeds in upstream traffic to mitigate traffic showckwaves…
This paper investigates the collision-free control problem for multi-agent systems. For such multi-agent systems, it is the typical situation where conventional methods using either the usual centralized model predictive control (MPC), or…
We consider a class of multi-agent cooperative consensus optimization problems with local nonlinear convex constraints where only those agents connected by an edge can directly communicate, hence, the optimal consensus decision lies in the…
Automated vehicles (AV) have the potential to provide cost-effective mobility options along with overall system-level benefits in terms of congestion and vehicular emissions. Additional resource allocation at the network level, such as…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…